Operation Manual

BK5000

Bus Coupler for CAN-CAL















2006-11-27
Version: 1.12
Table of Contents


Table of Contents


1. Foreword 1
Notes on the documentation 1
Safety Instructions 2
2. Configuration of the Bus Coupler 3
3. Connector Pin Assignment 4
4. Data Exchange 4
5. LEDs 5
Module Status LEDs "MS" 5
Network Status LEDs "NS" 5
Input/Output Status "I/O" 5
6. Appendix 6
The Register of the bus coupler BK5000 6
Default values 7
Module Capabilities 7
Module Identification 7
Support and Service 8
Foreword

BK5000 1
Foreword
Notes on the documentation
This description is only intended for the use of trained specialists in control and automation engineering
who are familiar with the applicable national standards. It is essential that the following notes and
explanations are followed when installing and commissioning these components.
Liability Conditions
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
The documentation has been prepared with care. The products described are, however, constantly under
development. For that reason the documentation is not in every case checked for consistency with
performance data, standards or other characteristics. None of the statements of this manual represents a
guarantee (Garantie) in the meaning of 443 BGB of the German Civil Code or a statement about the
contractually expected fitness for a particular purpose in the meaning of 434 par. 1 sentence 1 BGB. In
the event that it contains technical or editorial errors, we retain the right to make alterations at any time
and without warning. No claims for the modification of products that have already been supplied may be
made on the basis of the data, diagrams and descriptions in this documentation.
Delivery conditions
In addition, the general delivery conditions of the company Beckhoff Automation GmbH apply.
Copyright

This documentation is copyrighted. Any reproduction or third party use of this publication, whether in
whole or in part, without the written permission of Beckhoff Automation GmbH, is forbidden.
Foreword

2 BK5000
2
Safety Instructions
State at Delivery
All the components are supplied in particular hardware and software configurations appropriate for the
application. Modifications to hardware or software configurations other than those described in the
documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH.
Description of safety symbols
The following safety symbols are used in this documentation. They are intended to alert the reader to the
associated safety instructions..
Danger
This symbol is intended to highlight risks for the life or health of personnel.
Attention
This symbol is intended to highlight risks for equipment, materials or the
environment.
i
Note
This symbol indicates information that contributes to better understanding.

Configuration of the Bus Coupler

BK5000 3
Configuration of the Bus Coupler



All DIP-switches to off,
then power bus coupler
Switch all DIP-Switches to OFF and then power the bus coupler. The
four upper status LEDs are blinking. The baud rate is now selected
with the DIP-Switches 1 to 3. For details see table below.



Select baud rate baud rate 1 2 3 4 5 6 7 8
1 MBit off off off
500 kBit on off off
250 kBit off on off
125 kBit on on off
100 kBit off off on
50 kBit on off on
20 kBit off on on
10 kBit on on on

Select node class

The node class is now configured with DIP switch 5. Off means node class
0 (without master). Switch 5 to ON means node class 2 (with DBT/NMT
master).

Store configuration The configuration of the DIP switch settings 1, 2, 3 and 5 is stored as soon
as Switch 8 is switched to ON. Afterwards the LEDs remain on constantly.

Power down bus coupler

Select node ID

Switch on bus coupler

Now power down (switch off) the bus coupler and then select the node ID
with DIP switch 1 to 8. Switch 1 is the least significant bit 2
0
and switch 8 is
the most significant bit 2
7
. In switch position ON the Bit is set.
With node class 1 an ID between 1 and 255 can be selected. At node class
0 only IDs between 1 and 65 are allowed. The bus coupler is now ready for
operation and you can power it again.
Connector Pin Assignment

4 BK5000
4
Connector Pin Assignment

CAN-CAL Connector


Power supply
For Connecting the CAN bus cable the bus coupler comes with a 5pin
connector. Pin 1 is on the top side of the bus coupler. The pictures shows
the socket at the bus coupler. The power supply has to be connected at the
terminals on the right hand side of the bus couplers (labelled with 24 V and
0 V)



Pin assignment CAN-CAL connector
1 n.c.
2 CAN-H
3 GND
4 CAN-L
5 CAN-GND



Data Exchange

Channel enumeration

All input and output channels of the same kind are enumerated, counting
from the bus coupler onwards. So all analogue inputs are enumerated and
all analogue outputs get separate numbers. Enumeration starts with 0, so
the first channel of the first analog input terminal after the bus coupler has
the relative channel number 0. The second channel of this terminal gets
channel number 1, and number 2 is assigned to the first channel of the next
analog input terminal, assuming that the first terminal has two channels.
Analogue inputs and output data is 16 bit wide and transmitted in 2 Bytes:
first the LSB and then the MSB.

8 digital inputs form one
digital channel

Digital I/O data is transmitted in byte-wise. Therefore the digital I/Os are
combined in groups of eight that form one channel. The relatively first
digital input after the bus coupler is found in bit 0 of the first digital input
channel. The second input is found in Bit 1. The 7
th
digital input in the
terminal row is found in bit 6 of the first channel, and the 9
th
input is found in
bit 0 of the second digital input channel. If there are non-digital terminals in
between these are not considered for the digital channels.

LEDs

BK5000 5
LEDs






Module Status LEDs "MS"

LED "CAN-ERR" The red LED is on:
CAN warning level exceeded or
CAN Bus Off Status reached

LED "RUN" the green LED is on:
Status O.K.



Network Status LEDs "NS"

LED "TX OVERFLOW" the red LED is on:
Transmit Queue Overrun

LED " RX OVERFLOW" the red LED is on:
Receive Queue Overrun



Input/Output Status "I/O"

LED "I/O RUN" the green LED is on:
the terminal bus works fine
LED "I/O ERR" the red LED is on:
I/O error
Appendix

6 BK5000
6
Appendix


The Register of the bus coupler BK5000

Description Value
range
Default
values
Terminal number 0
Table number 100 Rd/Wr with Software write protection
Register number 0 CAL baud rate 4
Register number 1 CAL Node class 0
Register number 2 CAL Guard time 300
Register number 3 CAL Lifetime 2
Register number 4 Mode of the first eight analogue
terminals
0 :Polling
1 : Cycle
2 : Change of Value

0
4.2*n
4.2*n+1
Mode n+1 terminal
(n = 0 7 )
0, 1, 2, 0
Register number 5 12 Mode of digital terminals
0 :Polling
1 : Cycle
2 : Change of Value

0xAAAA
m.2*n
m.2*n+1
Mode n+1 terminal
(m = 5 12; n = 0 7 )
0, 1, 2 2
Register number 13 Timer 1 Mode Cycle 0
Register number 14 Timer 2 Mode Cycle 100
Register number 15 Timer 3 Mode Cycle 200
Register number 16 Timer 4 Mode Cycle 300
Register number 17 Assignment of the first 8 analogue
terminals to timer
0 : Timer 1
1 : Timer 2
2 : Timer 3
3 : Timer 4
0
17.2*n
17.2*n+1
Assingment n+1st terminal
(n = 0 7 )
0, 1, 2, 3 0
Register number 18 25 Assignment of the digital terminals to
timer
0 : Timer 1
1 : Timer 2
2 : Timer 3
3 : Timer 4
0
m.2*n
m.2*n+1
Assignment n+1st terminal
(m = 18 25; n = 0 7 )
0, 1, 2, 3 0
Register number 26 Fieldbus errors
26.15 : CAN BUSOFF (1)
26.14 : CAN ERROR (0)
26.13 : CAN OVERRUN (0)
26.12 : CAN GUARDFAIL (1)
26.11 : CAN NOTOPERATIONAL (0)
26.10 :--
...
26.0 :--
0x9000

Appendix

BK5000 7


Default values

Description Value range Default
values
Terminal number 0
Table number 0 Rd/Wr with Software write protection
Register number 0 reserved for ADS
Register number 1 Fieldbus interface
Register content 1.0 PLC Interface 0/1 0
1.1 - 1.2 Send channel of events 0 - 3 0
Register number 2 Terminal bus 0
2.0 Auto reset 0
2.1 Device diagnosis 0
2.2 Map diagnosis data of digital terminals in
process image
1
Register number 3 Process image description
Register conent 3.0 Process image active 0/1 1
3.1 Configuration type 0/1 1
3.2 Complex terminal mapping 0/1 0
3.3 Data format of complex terminals 0/1 0
3.4 Data format digital terminals 0/1 0
3.5 Alignment of complex terminals 0/1 0
3.6 Inputs PI synchronously 0/1 0
3.7 Output PI synchronously 0/1 0
3.8 - 3.9 Reaction on fieldbus error 0,1,2 0
3.10 -
3.11
Reaction on terminal bus error 0,1,2 2
Register number 4,5, 6 --
Register number 7 Offset PLC Interface Master -> Slave 0 - 255 0
Register number 8 Offset PLC Interface Slave ->Master 0 - 255 0
Register number 9 Waiting time after SYNC_0 Command 0 - 65535 200
Register number 10 Waiting time after SYNC_1 Command 0 - 65535 200
Register number 11 Support of all data formats 0/1 0
12 Reserved
13 Comparison mask for digital Diagnosis
2-Bit terminals
0x0002
14 Comparison mask for digital Diagnosis
4-Bit terminals
0x0802




Module Capabilities

LMT class [0] NMT network class[0 or 2] DBT class[0 or 2]
NMT node class[0 or 2]



Module Identification

Manufacturer Name: BKH__
Product Name: BUSKL__
Serial Number: 00000000000000


Appendix

8 BK5000
8


Support and Service

BECKHOFF and their partners around the world offer comprehensive service
and support, making available fast and competent assistance with all
questions related to BECKHOFF products and system solutions.



BECKHOFF Support

Support offers you comprehensive technical assistance, helping you no
only with the application of individual BECKHOFF products, but also with
other, wide-ranging services:
world-wide support
design, programming and commissioning of complex automation
systems
and extensive training program for BECKHOFF system components

Hotline: +49(0)5246/963-157
Fax: +49(0)5246/963-199
e-mail: support@beckhoff.com



BECKHOFF Service

The BECKHOFF Service Center supports you in all matters of after-sales
service:
on-site service
repair service
spare parts service
hotline service

Hotline: +49(0)5246/963-460
Fax: +49(0)5246/963-479
e-mail: service@beckhoff.com



Company headquarters

BECKHOFF Autormation GmbH
Eiserstr. 5
D-33415 Verl
Germany

Phone: +49(0)5246/963-0
Fax: +49(0)5246/963-198
e-mail: info@beckhoff.com

The addresses of BECKHOFF's branch offices and representatives round the
world can be found on her internet pages:
http://www.beckhoff.com
You will also find further documentation for BECKHOFF components there.